| 基于UKF算法的车辆质心侧偏角估计 |
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| 引用本文： | 丁红,赵林峰,周延明,刘晟昱,姚常瓦.基于UKF算法的车辆质心侧偏角估计[J].湖北汽车工业学院学报,2012(4):5-9. |
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| 作者姓名： | 丁红 赵林峰 周延明 刘晟昱 姚常瓦 |
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| 作者单位： | 合肥工业大学机械与汽车工程学院;株洲易力达机电有限公司 |
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| 基金项目： | 中航工业产学研合作创新工程专项(CXY2010HFGD27,CXY2010HFGD26);校博士专项科研资助(2010HGBZ0614);中央高校基本科研业务费专项资金(2011HGQC1010) |
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| 摘 要： | 将无味卡尔曼滤波(UKF)算法运用到车辆质心侧偏角的估计之中,基于纵滑—侧偏联合工况下的统一指数(Uni-tire)轮胎模型建立非线性车辆动力学模型,采用最小偏度单形采样的UKF算法估计车辆的几个关键状态参量,并由此得到质心侧偏角估计。最后采用奇瑞A3两厢型汽车的车辆参数,使用车辆动力学实时仿真软件DYNAware/veDYNA对观测器进行了实时验证。仿真结果表明,UKF非线性估计方法精度高,估计结果能够满足实际应用要求。
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| 关 键 词： | 质心侧偏角 unscented卡尔曼滤波(UKF) 统一指数轮胎模型 仿真试验 |
Estimation of Vehicle Side-slip Angle Based on Unscented Kalman Filter Algorithm |
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| Ding Hong,Zhao Linfeng,Zhou Yanming,Liu Shengyu,Yao Changwa.Estimation of Vehicle Side-slip Angle Based on Unscented Kalman Filter Algorithm[J].Journal of Hubei Automotive Industries Institute,2012(4):5-9. |
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| Authors: | Ding Hong Zhao Linfeng Zhou Yanming Liu Shengyu Yao Changwa |
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| Institution: | 1.School of Mechanical and Automotive Engineering,Hefei University of Technology,Hefei 230009,China; 2.Zhuzhou Elite Electro Mechanical Co.,Ltd,Zhuzhou 412002,China) |
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| Abstract: | Unscented Kalman filter(UKF) algorithm was applied to vehicle side-slip angle estimation.And the nonlinear vehicle dynamics model was set up based on Uni-tire model.The estimates of the side-slip angle were determined based on several vehicle key state parameters which were estimated using UKF with the smallest skewness simplex sampling strategy.The observer was validated using the real-time vehicle dynamic simulation software DYNAware/veDYNA with the parameters of hatchback version of Chery A3.The simulation results show that the nonlinear UKF estimation method has high estimation precision,and the results satisfy the actual application requirements. |
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| Keywords: | side-slip angle unscented Kalman filter(UKF) Uni-tire model simulation experiment |
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